CN107697810A - A kind of control system of trackless deformation gantry crane - Google Patents
A kind of control system of trackless deformation gantry crane Download PDFInfo
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- CN107697810A CN107697810A CN201710807150.7A CN201710807150A CN107697810A CN 107697810 A CN107697810 A CN 107697810A CN 201710807150 A CN201710807150 A CN 201710807150A CN 107697810 A CN107697810 A CN 107697810A
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- hydraulic
- way electromagnetic
- control
- electromagnetic directional
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/20—Control systems or devices for non-electric drives
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/023—Excess flow valves, e.g. for locking cylinders in case of hose burst
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
- F15B13/0401—Valve members; Fluid interconnections therefor
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)
Abstract
The present invention discloses a kind of control system of trackless deformation gantry crane, including hydraulic control system and electric control system, hydraulic control system is made up of hydraulic power unit, mill stand control portion, lifting dolly control unit, wheel group control unit, travelling control portion, support frame control unit and cable drum control unit；Electric control system includes the Self-resetting selecting switch for being used for operating crane, after each Self-resetting selecting switch distinguishes SRE, then is connected in parallel in control voltage loop；After the series connection corresponding with the electromagnet of each solenoid directional control valve in hydraulic control system of the normally opened contact of each relay, then it is connected in parallel in control voltage loop；Electric control system and the mutual coordinated of hydraulic control system, crane is set to be walked on surface road, middle arc-shaped surface and gradient inclined-plane with turning to, meet curve interval circuit lateral displacement, hang the various requirement for height of loading thing, the requirement for hanging the adjustment of loading thing three-dimensional six degree of freedom can be met under various operating modes.
Description
Technical field
The present invention relates to track laying technical field, specifically a kind of control system of trackless deformation gantry crane.
Background technology
In recent years, China progressively turned into the most country of railway operating kilometrage in the world, to ensure the high speed of train fortune
OK, it is desirable to track structure has stronger globality, once the force transferring part damage of moderate finite deformation or track occurs for basis, then rail
The stability and ride comfort of road structure is difficult to ensure, gently then causes train speed limit, heavy then security incident occurs.
In actual applications, to railway, subway tunnel track construction when, track plates, sleeper, template, the section of track, rail and
Turnout etc. is required to lift, and track structure part may receive damage during service, and track plates or concrete bottom occurs
Seat board crackle, breakage or fracture, high-speed switch hurt, cement emulsified asphalt mortar gap, breakage or fragmentation, I templates convex gear
The problems such as platform and convex blocking platform potting resin are damaged, and the damage of track plates track, solid concrete roabed sedimentation are transfinited, these situations are not only
It is attractive in appearance to influence track, and directly affects track structure stability and ride comfort, so as to injure train operating safety, therefore needs
Will be to the track structure part on-call maintenance of hidden danger or replacing be present.
Due to the factor of geographical environment, track is not both within horizontality, and in general loop wheel machine can not use, and due to
The track plates that railway uses at present, size and weight are larger, it is necessary to, it is necessary to coordinate artificial common work using crane when changing
Industry, this not only needs building platform, and is easily limited by working region, and construction period is long, and efficiency of construction is relatively low；Safety
Property is poor, needs manpower and materials more in construction, construction safety can not ensure.
In order to solve the above-mentioned technical problem, the applicant devises a kind of trackless gantry crane, and the application is to be used to be somebody's turn to do
The control system of crane.
The content of the invention
It is an object of the invention to provide a kind of control system of trackless deformation gantry crane, the control system can expire
Sufficient crane walking, steering, gauge changing, three-dimensional six degree of freedom on various operating mode sections hang the use demand of loading thing.
The technical solution adopted for the present invention to solve the technical problems is：
A kind of control system of trackless deformation gantry crane, including：
A, hydraulic control system,
Hydraulic control system is by hydraulic power unit, mill stand control portion, lifting dolly control unit, wheel group control unit, travelling control portion, branch
Support control unit and cable drum control unit；
Hydraulic power unit provides hydraulic power for hydraulic control portion, and hydraulic power unit outlet is provided with total magnetic valve；
A1, mill stand control portion are by the cylinder synchronous valve of frame four, left side cylinder synchronous valve, right side cylinder synchronous valve to expansion bracket horizontal hydraulic cylinder
Control is synchronized, expansion bracket horizontal hydraulic cylinder is driven by four horizontal three-position four-way electromagnetic directional valves；Support bar vertical hydraulic
Cylinder is driven by four vertical three-position four-way electromagnetic directional valves；
A2, lifting dolly control unit are by lifting by crane four cylinder synchronous valves, front side cylinder synchronous valve, rear side cylinder synchronous valve to lifting dolly
Hang hydraulic cylinder and synchronize control, lifting hydraulic cylinder is driven by lifting three-position four-way electromagnetic directional valve；Two traversing 3-position 4-ways
Solenoid directional control valve drives two-way hydraulic cylinder respectively, realizes the hydraulic-driven laterally adjusted to lifting dolly；
A3, wheel group control unit correspond to driving moment angular adjustment hydraulic cylinder by wheel group angle three-position four-way electromagnetic directional valve, form
To the hydraulic-driven of wheel group angular adjustment；
Wheel group turns to three-position four-way electromagnetic directional valve and corresponds to driving moment steering regulation hydraulic cylinder, forms and turns to regulation to wheel group
Hydraulic-driven；
A4, travelling control portion are and right respectively with trailing wheel synchronous valve by front-wheel synchronous valve by four hydraulic motor travel motor driving moments
Front and back wheel Synchronization Control；
A5, support frame control unit synchronously drive back and front supporting frame luffing hydraulic cylinder, structure by support frame three-position four-way electromagnetic directional valve
The folding and unfolding control of paired support frame；
A6, cable drum control unit drive the traversing hydraulic cylinder of cable drum by cable drum three-position four-way electromagnetic directional valve, form
Traversing control to cable drum；
B, electric control system,
Electric power incoming line passes sequentially through breaker, contactor and electrothermal relay connection hydraulic pump motor；Electric power incoming line also passes sequentially through
Transformer and D.C. regulated power supply output control voltage；Hydraulic pump start button, contactor coil and the normally closed of electrothermal relay are touched
Point, which is sequentially connected in series, to be followed by control voltage loop, forms the control loop of hydraulic power unit；
Electric control system is also comprising one group of Self-resetting selecting switch for being used to operate crane, each Self-resetting selecting switch point
After other SRE, then it is connected in parallel in control voltage loop；It is each in the normally opened contact and hydraulic control system of each relay
After the corresponding series connection of the electromagnet of individual solenoid directional control valve, then it is connected in parallel in control voltage loop.
Further, the mill stand control portion includes two four-way electromagnetic reversing valves, throttling stop valve, a frame
Four cylinder synchronous valves, left side cylinder synchronous valve, right side cylinder synchronous valve, four overlapping twos, four horizontal 3-position 4-ways
Solenoid directional control valve, four vertical three-position four-way electromagnetic directional valves；The entrance of four vertical three-position four-way electromagnetic directional valves passes through total
Magnetic valve is connected with hydraulic power unit respectively, the outlet corresponding connection with the entrance of four overlapping twos respectively, four
The outlet of overlapping two connection corresponding with vertical hydraulic cylinder respectively again, forms the hydraulic-driven to support bar；Section
Flow shutoff valve entrance is connected by total magnetic valve with hydraulic power unit, is exported and is sequentially connected two four-way electromagnetic reversing valves and four cylinders are same
Walk valve, the output of four cylinder synchronous valves respectively as left side cylinder synchronous valve and right side cylinder synchronous valve input, left side cylinder synchronous valve
Horizontal three-position four-way electromagnetic directional valve of the output respectively with two control left side expansion brackets is connected, the output point of right side cylinder synchronous valve
Horizontal three-position four-way electromagnetic directional valve not with two control right side expansion brackets is connected, the horizontal three-position four-way electromagnetic directional valve
Connection corresponding with horizontal hydraulic cylinder respectively, forms the hydraulic-driven to expansion bracket.
Further, the lifting dolly control unit include two four-way electromagnetic reversing valves, a throttling stop valve,
It is double single to lift by crane four cylinder synchronous valves, front side cylinder synchronous valve, rear side cylinder synchronous valve, four superposing type Bidirectional balanced valves, two superposing types
To choke valve, four lifting three-position four-way electromagnetic directional valves, two traversing three-position four-way electromagnetic directional valves；Two traversing three four
The entrance of electric change valve is connected with hydraulic power unit, exports the entrance pair with two overlapping twos respectively respectively
It should connect, the outlet of overlapping two connects by the way that superposing type dual hydraulic control one-way valve is corresponding with two-way hydraulic cylinder respectively
Connect, form the hydraulic-driven laterally adjusted to lifting dolly；Throttle check valve inlet is connected with hydraulic power unit, exports and is sequentially connected
Two four-way electromagnetic reversing valves and four cylinder synchronous valves, the output of four cylinder synchronous valves are same respectively as front side cylinder synchronous valve and rear side cylinder
The input of valve is walked, the output of front side cylinder synchronous valve is connected with the lifting three-position four-way electromagnetic directional valve on front side of two controls respectively,
Lifting three-position four-way electromagnetic directional valve of the output of rear side cylinder synchronous valve respectively with two control rear sides is connected, the lifting three
Four-way electromagnetic reversing valve respectively with superposing type Bidirectional balanced valve be connected after, again respectively with lifting hydraulic cylinder it is corresponding connection, composition pair
Lift by crane the hydraulic-driven of dolly lifting lifting.
Further, the wheel group control unit includes six overlapping twos, four superposing type double hydraulic control lists
Three-position four-way electromagnetic directional valve is turned to valve, four wheel group angle three-position four-way electromagnetic directional valves, two wheel groups；Four wheel groups become
The entrance of angle three-position four-way electromagnetic directional valve is connected with hydraulic power unit, exports and folded respectively with wherein four respectively by total magnetic valve
Add the entrance of formula Double throttle check valve is corresponding to connect, the outlet of four overlapping twos is adjusted with wheel angle respectively again
The corresponding connection of hydraulic cylinder is saved, forms the hydraulic-driven to wheel group angular adjustment；Two wheel groups turn to three-position four-way electromagnetic directional valve
Entrance be connected by total magnetic valve with hydraulic power unit, export the entrance pair with two other overlapping two respectively
It should connect, the outlet of two overlapping twos passes through four superposing type dual hydraulic control one-way valves and wheel steering respectively again
Adjust the corresponding connection of hydraulic cylinder；Wheel steering regulation hydraulic cylinder in two front side be in parallel, two rear side being in parallel.
Further, the travelling control portion includes four hydraulic motor travel motors, front-wheel synchronous valve, trailing wheel synchronous valve and row
Walk three-position four-way electromagnetic directional valve；Walking three-position four-way electromagnetic directional valve entrance be connected by total magnetic valve with hydraulic power unit,
Outlet connects the entrance of front-wheel synchronous valve and trailing wheel synchronous valve respectively, and front-wheel synchronous valve and the outlet of trailing wheel synchronous valve are corresponding respectively
Connect hydraulic motor travel motor.
Further, support frame as described above control unit includes support frame three-position four-way electromagnetic directional valve and the double unidirectional sections of superposing type
Valve is flowed, the entrance of support frame three-position four-way electromagnetic directional valve is connected with hydraulic power unit by total magnetic valve, exported and superposing type pair
The entrance of one-way throttle valve is connected, and back and front supporting frame luffing hydraulic cylinder is in parallel, and the outlet of overlapping two is corresponding
Connect hydraulic fluid port in parallel.
Further, it is double single with superposing type to include cable drum three-position four-way electromagnetic directional valve for the cable drum control unit
To choke valve, the entrance of cable drum three-position four-way electromagnetic directional valve is connected with hydraulic power unit by total magnetic valve, exported with folding
The entrance of formula Double throttle check valve is added to be connected, the traversing hydraulic cylinder of outlet connecting cable roller of overlapping two.
The beneficial effects of the invention are as follows：The mill stand control portion of electric control system and hydraulic control system, lifting dolly control
Portion, wheel group control unit, travelling control portion, support frame control unit and the mutual coordinated of cable drum control unit processed, make lifting
Machine can walk on surface road, middle arc-shaped surface and gradient inclined-plane, can be in surface road, arc-shaped surface, the gradient
Inclined-plane turns to, and meets curve interval circuit lateral displacement requirement, meets that various section section circuits hang the various height of loading thing
It is required that the requirement for hanging the adjustment of loading thing three-dimensional six degree of freedom can be met under various operating modes.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples：
Fig. 1 is the exploded perspective view of crane of the present invention；
Fig. 2 is the schematic diagram of hydraulic control system of the present invention；
Fig. 3 is the enlarged diagram of hydraulic power unit in Fig. 2；
Fig. 4 is the enlarged diagram in mill stand control portion in Fig. 2；
Fig. 5 is the enlarged diagram of support bar drive part in Fig. 4；
Fig. 6 is the enlarged diagram of expansion bracket drive part in Fig. 4；
Fig. 7 is the enlarged diagram that dolly control unit is lifted by crane in Fig. 2；
Fig. 8 is the enlarged diagram of wheel group control unit in Fig. 2；
Fig. 9 is the enlarged diagram in travelling control portion in Fig. 2；
Figure 10 is the enlarged diagram of support frame control unit and cable drum control unit in Fig. 2；
Figure 11 is the electrical schematics of hydraulic power unit in electric control system of the present invention；
Figure 12 is the electrical control schematic of each Operation switch and relay in electric control system of the present invention；
Figure 13 is the electrical control schematic of each relay contact and electromagnet in electric control system of the present invention；
Figure 14 is the enlarged diagram on electromagnet YVH1, YVH2 in Figure 13；
Figure 15 is the enlarged diagram on electromagnet YVH3, YVH4 in Figure 13；
Figure 16 is the enlarged diagram on electromagnet YVH5, YVH7~YVH24 in Figure 13；
Figure 17 is the enlarged diagram on electromagnet YVH25~YVH52 in Figure 13.
Embodiment
The present invention provides a kind of control system of trackless deformation gantry crane, including：
A, hydraulic control system,
With reference to shown in Fig. 1~3, hydraulic control system is by hydraulic power unit 1, mill stand control portion 2, lifting dolly control unit 3, wheel group control
Portion 4, travelling control portion 5, support frame control unit 6 and cable drum control unit 7 processed.
Hydraulic power unit 1 provides hydraulic power for hydraulic control system, and hydraulic power unit 1 passes through oil pump output two kinds of work of height
The P1 and 10ml/r of pressure, respectively 40ml/r P2, the outlet of hydraulic power unit 1 are provided with the first total electricity for corresponding to P1 and P2 respectively
11 and second total magnetic valve 12 of magnet valve.
With reference to shown in Fig. 4~6,
Mill stand control portion 2 includes 201, two four-way electromagnetic reversing valves 202 of a throttling stop valve, the cylinder synchronous valve of frame four
203rd, left side cylinder synchronous valve 204, the level three four of overlapping two 206, four of right side cylinder synchronous valve 205, four
Electric change valve, four vertical three-position four-way electromagnetic directional valves；
Four horizontal three-position four-way electromagnetic directional valves i.e. respectively with left front horizontal hydraulic cylinder 2a, left back horizontal hydraulic cylinder 2b, it is right before
Left front levels electromagnetic valve 207a corresponding horizontal hydraulic cylinder 2d, left back levels electromagnetic valve 207b, the right side behind horizontal hydraulic cylinder 2c, the right side
Levels electromagnetic valve 207d behind preceding levels electromagnetic valve 207c, the right side；
Four vertical three-position four-way electromagnetic directional valves respectively with left front vertical hydraulic cylinder 21a, left back vertical hydraulic cylinder 21b, it is right before
Vertical hydraulic cylinder 21c, it is right after the corresponding left front vertical magnetic valve 208a of vertical hydraulic cylinder 21d, left back vertical magnetic valve 208b,
Vertical magnetic valve 208d behind vertical magnetic valve 208c, the right side before the right side.
The entrance of four vertical three-position four-way electromagnetic directional valves by first total magnetic valve 11 respectively with the phase of hydraulic power unit 1
Even, outlet connection corresponding with the entrance of four overlapping twos 206 respectively, four overlapping twos
206 outlet connection corresponding with vertical hydraulic cylinder respectively again, forms the hydraulic-driven to support bar 802.
The entrance of throttling stop valve 201 is connected by first total magnetic valve 11 with hydraulic power unit 1, is exported and is sequentially connected two four
The cylinder synchronous valve 203 of electric change valve 202 and four, the output of four cylinder synchronous valves 203 is respectively as left side cylinder synchronous valve 204 and the right side
The input of side cylinder synchronous valve 205, the output of left side cylinder synchronous valve 204 are electric with left front levels electromagnetic valve 207a, left back level respectively
Magnet valve 207b is connected, the output of right side cylinder synchronous valve 205 respectively with levels electromagnetic valve 207c before the right side, it is right after levels electromagnetic valve 207d
It is connected, forms the hydraulic-driven to expansion bracket 801.
With reference to shown in Fig. 7,
It is same comprising 301, two four-way electromagnetic reversing valves 302 of a throttling stop valve, four cylinders of lifting to lift by crane dolly control unit 3
It is double to walk valve 303, front side cylinder synchronous valve 304, the superposing type Bidirectional balanced valve 306, two of rear side cylinder synchronous valve 305, four superposing type
One-way throttle valve 307, four lifting three-position four-way electromagnetic directional valves, two traversing three-position four-way electromagnetic directional valves；
Four lifting three-position four-way electromagnetic directional valves i.e. respectively with left front lifting hydraulic cylinder 3a, left back lifting hydraulic cylinder 3b, it is right before
Lift by crane hydraulic cylinder 3c, it is right after lift by crane the one-to-one left front lifting three-position four-way electromagnetic directional valve 308a of hydraulic cylinder 3d, left back
3-position 4-way electromagnetism is lifted by crane after hanging three-position four-way electromagnetic directional valve 308b, right preceding lifting three-position four-way electromagnetic directional valve 308c, the right side
Reversal valve 308d.
Two traversing three-position four-way electromagnetic directional valves i.e. respectively with preceding two-way hydraulic cylinder 31a, rear two-way hydraulic cylinder 31b one by one
Corresponding preceding traversing three-position four-way electromagnetic directional valve 309a, rear traversing three-position four-way electromagnetic directional valve 309b.
The entrance of two traversing three-position four-way electromagnetic directional valves by first total magnetic valve 11 respectively with the phase of hydraulic power unit 1
Even, outlet connection corresponding with the entrance of two overlapping twos 307 respectively, overlapping two 307
Outlet by the connection corresponding with two-way hydraulic cylinder of superposing type dual hydraulic control one-way valve 310, forms and lifting dolly is laterally adjusted respectively
803b hydraulic-driven.
The entrance of throttling stop valve 301 is connected by first total magnetic valve 11 with hydraulic power unit 1, is exported and is sequentially connected two four
Electric change valve 302 and four cylinder synchronous valves 303 of lifting, the output for lifting by crane four cylinder synchronous valves 303 are synchronous respectively as front side cylinder
Valve 304 and the input of rear side cylinder synchronous valve 305, the output of front side cylinder synchronous valve 304 lift by crane 3-position 4-way electromagnetism with left front respectively
Reversal valve 308a, it is right before lifting three-position four-way electromagnetic directional valve 308c be connected, the output of rear side cylinder synchronous valve 305 respectively with it is left back
Lifting three-position four-way electromagnetic directional valve 308d is connected behind lifting three-position four-way electromagnetic directional valve 308b, the right side, lifting 3-position 4-way electricity
Magnetic reversal valve with connected rear, the corresponding connection with lifting hydraulic cylinder respectively again of superposing type Bidirectional balanced valve 306, is formed to lifting respectively
Dolly lifting lifting 803a hydraulic-driven.
With reference to shown in Fig. 8,
Wheel group control unit 4 includes six overlapping twos, four superposing type dual hydraulic control one-way valves, 401, four wheel groups
Angle three-position four-way electromagnetic directional valve, two wheel groups turn to three-position four-way electromagnetic directional valve；
Four wheel group angle three-position four-way electromagnetic directional valves are adjusted with the near front wheel angular adjustment hydraulic cylinder 4a, off-front wheel angle respectively
Save hydraulic cylinder 4b, left rear wheel angular adjustment hydraulic cylinder 4c, the one-to-one the near front wheel angles of off hind wheel angular adjustment hydraulic cylinder 4d
Three-position four-way electromagnetic directional valve 402a, off-front wheel angle three-position four-way electromagnetic directional valve 402b, left rear wheel angle 3-position 4-way electricity
Magnetic reversal valve 402c, off hind wheel angle three-position four-way electromagnetic directional valve 402d.
Two wheel groups turn to three-position four-way electromagnetic directional valve and regulation hydraulic cylinder 41a, off-front wheel steering are turned to the near front wheel
Adjust the front-wheel steer three-position four-way electromagnetic directional valve 403a that hydraulic cylinder 41b coordinates, with left rear wheel turn to regulation hydraulic cylinder 41c,
Off hind wheel turns to the rear-axle steering three-position four-way electromagnetic directional valve 403b that regulation hydraulic cylinder 41d coordinates.
The entrance of four wheel group angle three-position four-way electromagnetic directional valves by second total magnetic valve 12 respectively with hydraulic power unit 1
It is connected, outlet connection corresponding with the entrance of four the first overlapping twos 404 respectively, four the first superposing types are double single
Outlet connection corresponding with wheel angle regulation hydraulic cylinder respectively again to choke valve 404, forms the liquid to the angular adjustment of wheel group 804
Pressure driving；
The entrance that two wheel groups turn to three-position four-way electromagnetic directional valve is connected with hydraulic power unit 1 by second total magnetic valve 12, gone out
Mouth connection corresponding with the entrance of two the second overlapping twos 405 respectively, the double one-way throttles of two the second superposing types
The outlet of valve 405 passes through the connection corresponding with wheel steering regulation hydraulic cylinder of four superposing type dual hydraulic control one-way valves respectively again；It is left front
Rotate and turn to regulation hydraulic cylinder 41b to regulation hydraulic cylinder 41a and off-front wheel and be in parallel, left rear wheel turn to regulation hydraulic cylinder 41c and
Off hind wheel turns to regulation hydraulic cylinder 41d and is in parallel；Form the hydraulic-driven that regulation is turned to wheel group 804.
With reference to shown in Fig. 9,
Travelling control portion 5 includes front-wheel synchronous valve 501, trailing wheel synchronous valve 502, pressure-reducing valve 503, walking magnetic valve 504, high low speed
Switching solenoid valve 505 and respectively driving the near front wheel, off-front wheel, left rear wheel, four hydraulic motors of off hind wheel, i.e. the near front wheel liquid
Pressure motor 506a, off-front wheel hydraulic motor 506b, left rear wheel hydraulic motor 506c, off hind wheel hydraulic motor 506d.
It is same that the walking entrance of magnetic valve 504 is connected by first total magnetic valve 11 with hydraulic power unit 1, outlet is connected front-wheel respectively
Valve 501, the entrance of trailing wheel synchronous valve 502 are walked, the outlet of front-wheel synchronous valve 501, trailing wheel synchronous valve 502 is connected respectively left front
Take turns hydraulic motor 506a, off-front wheel hydraulic motor 506b, left rear wheel hydraulic motor 506c, off hind wheel hydraulic motor 506d.Decompression
The entrance of valve 503 is connected with hydraulic power unit 1 also by first total magnetic valve 11, exports the high low speed switching solenoid valve 505 of connection, by height
Low speed switching solenoid valve 505 controls the high low speed walking switching of four hydraulic motors.
With reference to shown in Figure 10,
Support frame control unit 6 includes support frame three-position four-way electromagnetic directional valve 601, overlapping two 602, support frame
The entrance of three-position four-way electromagnetic directional valve 601 is connected with hydraulic power unit 1 by second total magnetic valve 12, exported and the double lists of superposing type
It is connected to the entrance of choke valve 602, front support stand luffing hydraulic cylinder 603a is in parallel with rear support stand luffing hydraulic cylinder 603b, folds
Add the outlet of formula Double throttle check valve 602 correspondingly to connect hydraulic fluid port in parallel, form the folding and unfolding control to support frame 805.
Cable drum control unit 7 includes cable drum three-position four-way electromagnetic directional valve 701 and overlapping two
702, the entrance of cable drum three-position four-way electromagnetic directional valve 701 is connected with hydraulic power unit 1 by second total magnetic valve 12, exported
It is connected with the entrance of overlapping two 702, the outlet connecting cable roller of overlapping two 702 is traversing
Hydraulic cylinder 703, form the traversing control to cable drum.
B, electric control system,
With reference to shown in Figure 11,
380V AC power inlet wires pass sequentially through circuit breaker Q 1, contactor KM is connected hydraulic pump motor M with electrothermal relay FR；380V
AC power inlet wire also passes sequentially through transformer T1, breaker F2, exports direct current 24V with D.C. regulated power supply T2, breaker F3
Control voltage.
Hydraulic pump start button S1, contactor KM coil and electrothermal relay FR normally-closed contact, which are sequentially connected in series, to be followed by controlling
In voltage circuit processed, the control loop of hydraulic power unit 1 is formed.
With reference to shown in Figure 12~17, the Self-resetting selection that electric control system also is used to operate crane comprising one group is opened
Close, after each Self-resetting selecting switch difference SRE, then be connected in parallel in control voltage loop；Each relay it is normally opened
After the series connection corresponding with the electromagnet of each solenoid directional control valve in hydraulic control system of contact, then it is connected in parallel in control voltage loop.
Self-resetting selecting switch uses three selecting switch of Self-resetting, and each switch includes two control actions, according to
The demand of crane construction, for mill stand control portion, comprising：Left front horizontal extension switch S2, left back horizontal extension switch S3, the right side
Horizontal extension switch S5, left synchronization telescope switch S6, right synchronization telescope switch S7, left and right together behind preceding horizontal extension switch S4, the right side
Walk telescoping switch S8；Left front vertical telescopic switchs S9, left back vertical telescopic switchs S10, before the right side behind vertical telescopic switch S11, the right side
Vertical telescopic switchs S12；Vertical full synchronization telescope switch S13.
For lifting by crane dolly control unit, comprising：Front side transverse moving left and right switchs S14, rear side transverse moving left and right switchs S15, left front
Direction switch S19, front side synchronization lifting switch behind direction switch S18, the right side before direction switch S16, left back direction switch S17, the right side
S20, rear side synchronization lifting switch S21, front-and-rear simultaneous lifting switch S22.
For wheel group control unit, comprising：External-adjuster switch S23, external-adjuster switch in off-front wheel angle in the near front wheel angle
External-adjuster switch S25 in S24, left rear wheel angle, external-adjuster switch S26 in off hind wheel angle, front-wheel left and right turn switch S27,
Trailing wheel left and right turn switchs S28.
For travelling control portion, comprising：The front and rear walking switch S29 of low speed, at a high speed front and rear walking switch S30.
For support frame control unit, comprising：Support frame folding and unfolding switchs S31.
For cable drum control unit, comprising：Cable drum disengaging switch S32.
The electromagnet of each solenoid directional control valve is respectively：
First total corresponding electromagnet YVH2 of magnetic valve 11, second total corresponding electromagnet YVH1 of magnetic valve 12, two four-way electromagnetics change
To the corresponding electromagnet YVH3 of valve 202, left front levels electromagnetic valve 207a corresponds to electromagnet YVH29, YVH30, left back levels electromagnetic valve
207b corresponds to electromagnet YVH31, YVH32, and levels electromagnetic valve 207c corresponds to electromagnet YVH25, YVH26 before the right side, horizontal electricity after right
Magnet valve 207d corresponds to electromagnet YVH27, YVH28.
Left front vertical magnetic valve 208a correspond to electromagnet YVH37, YVH38, and left back vertically magnetic valve 208b corresponds to electromagnet
YVH39, YVH40, vertical magnetic valve 208c corresponds to electromagnet YVH33, YVH34 before right, the vertical corresponding electricity of magnetic valve 208d after right
Magnet YVH35, YVH36.
The corresponding electromagnet YVH4 of two four-way electromagnetic reversing valves 302, left front 308a pairs of three-position four-way electromagnetic directional valve of lifting
Electromagnet YVH11, YVH12 are answered, left back lifting three-position four-way electromagnetic directional valve 308b corresponds to electromagnet YVH15, YVH16, before right
Lifting three-position four-way electromagnetic directional valve 308c corresponds to electromagnet YVH9, YVH10, and three-position four-way electromagnetic directional valve 308d is lifted by crane after right
Corresponding electromagnet YVH13, YVH14；Preceding traversing three-position four-way electromagnetic directional valve 309a corresponds to electromagnet YVH17, YVH18, rear horizontal
Move three-position four-way electromagnetic directional valve 309b and correspond to electromagnet YVH19, YVH20.
The near front wheel angle three-position four-way electromagnetic directional valve 402a corresponds to electromagnet YVH49, YVH50, off-front wheel angle three
Four-way electromagnetic reversing valve 402b corresponds to electromagnet YVH45, YVH46, and left rear wheel angle three-position four-way electromagnetic directional valve 402c is corresponding
Electromagnet YVH51, YVH52, off hind wheel angle three-position four-way electromagnetic directional valve 402d correspond to electromagnet YVH47, YVH48；Front-wheel
Turn to three-position four-way electromagnetic directional valve 403a and correspond to electromagnet YVH21, YVH22, rear-axle steering three-position four-way electromagnetic directional valve
403b corresponds to electromagnet YVH23, YVH24.
Walk magnetic valve 504 corresponding electromagnet YVH7, YVH8, the high corresponding electromagnet YVH5 of low speed switching solenoid valve 505.Branch
Support three-position four-way electromagnetic directional valve 601 corresponding electromagnet YVH41, YVH42.Cable drum three-position four-way electromagnetic directional valve 701
Corresponding electromagnet YVH43, YVH44.
Retracted in order to ensure the synchronization of each oil cylinder in mill stand control portion, only when this crane is positioned at construction orbit centre
Allow synchronous retraction operation, the detection switch SX positioned at crane floor detection center is connected on into left synchronization telescope switchs
In S6 " retraction " position and relay K10 loop, and make relay K12 corresponding to right synchronization telescope switch S7 " retractions " position and
Relay K15, K16 corresponding to synchronization telescope switch S8 " retraction " position of left and right have a common end.
When using this control system control crane, hydraulic pump start button S1 is pressed first and starts hydraulic power unit 1, so
Operated as desired afterwards, in order to more intuitively show that each switching manipulation, the work of relay, electromagnet correspond to feelings
Condition, illustrated below with form, be shown in Table 1~3：
Table 1
Table 2
Table 3
The above described is only a preferred embodiment of the present invention, any formal limitation not is made to the present invention；It is any ripe
Know those skilled in the art, without departing from the scope of the technical proposal of the invention, all using the disclosure above method and
Technology contents make many possible changes and modifications to technical solution of the present invention, or are revised as the equivalence enforcement of equivalent variations
Example.Therefore, every content without departing from technical solution of the present invention, the technical spirit according to the present invention is to made for any of the above embodiments
Any simple modification, equivalent substitution, equivalence changes and modification, still fall within the range of technical solution of the present invention protects.
Claims (7)
- A kind of 1. control system of trackless deformation gantry crane, it is characterised in that including：A, hydraulic control system,Hydraulic control system is by hydraulic power unit, mill stand control portion, lifting dolly control unit, wheel group control unit, travelling control portion, branch Support control unit and cable drum control unit；Hydraulic power unit provides hydraulic power for hydraulic control portion, and hydraulic power unit outlet is provided with total magnetic valve；A1, mill stand control portion are by the cylinder synchronous valve of frame four, left side cylinder synchronous valve, right side cylinder synchronous valve to expansion bracket horizontal hydraulic cylinder Control is synchronized, expansion bracket horizontal hydraulic cylinder is driven by four horizontal three-position four-way electromagnetic directional valves；Support bar vertical hydraulic Cylinder is driven by four vertical three-position four-way electromagnetic directional valves；A2, lifting dolly control unit are by lifting by crane four cylinder synchronous valves, front side cylinder synchronous valve, rear side cylinder synchronous valve to lifting dolly Hang hydraulic cylinder and synchronize control, lifting hydraulic cylinder is driven by lifting three-position four-way electromagnetic directional valve；Two traversing 3-position 4-ways Solenoid directional control valve drives two-way hydraulic cylinder respectively, realizes the hydraulic-driven laterally adjusted to lifting dolly；A3, wheel group control unit correspond to driving moment angular adjustment hydraulic cylinder by wheel group angle three-position four-way electromagnetic directional valve, form To the hydraulic-driven of wheel group angular adjustment；Wheel group turns to three-position four-way electromagnetic directional valve and corresponds to driving moment steering regulation hydraulic cylinder, forms and turns to regulation to wheel group Hydraulic-driven；A4, travelling control portion are and right respectively with trailing wheel synchronous valve by front-wheel synchronous valve by four hydraulic motor travel motor driving moments Front and back wheel Synchronization Control；A5, support frame control unit synchronously drive back and front supporting frame luffing hydraulic cylinder, structure by support frame three-position four-way electromagnetic directional valve The folding and unfolding control of paired support frame；A6, cable drum control unit drive the traversing hydraulic cylinder of cable drum by cable drum three-position four-way electromagnetic directional valve, form Traversing control to cable drum；B, electric control system,Electric power incoming line passes sequentially through breaker, contactor and electrothermal relay connection hydraulic pump motor；Electric power incoming line also passes sequentially through Transformer and D.C. regulated power supply output control voltage；Hydraulic pump start button, contactor coil and the normally closed of electrothermal relay are touched Point, which is sequentially connected in series, to be followed by control voltage loop, forms the control loop of hydraulic power unit；Electric control system is also comprising one group of Self-resetting selecting switch for being used to operate crane, each Self-resetting selecting switch point After other SRE, then it is connected in parallel in control voltage loop；It is each in the normally opened contact and hydraulic control system of each relay After the corresponding series connection of the electromagnet of individual solenoid directional control valve, then it is connected in parallel in control voltage loop.
- 2. the control system of trackless deformation gantry crane according to claim 1, it is characterised in that the mill stand control portion Include two four-way electromagnetic reversing valves, a throttling stop valve, the cylinder synchronous valve of frame four, left side cylinder synchronous valve, right side cylinder Synchronous valve, four overlapping twos, four horizontal three-position four-way electromagnetic directional valves, four vertical 3-position 4-way electromagnetism Reversal valve；The entrance of four vertical three-position four-way electromagnetic directional valves is connected with hydraulic power unit respectively by total magnetic valve, export respectively with The entrance of four overlapping twos is corresponding to be connected, the outlets of four overlapping twos again respectively with it is vertical Hydraulic cylinder is corresponding to be connected, and forms the hydraulic-driven to support bar；Throttle check valve inlet is connected by total magnetic valve with hydraulic power unit, export be sequentially connected two four-way electromagnetic reversing valves with Four cylinder synchronous valves, respectively as the input of left side cylinder synchronous valve and right side cylinder synchronous valve, left side cylinder is same for the output of four cylinder synchronous valves Horizontal three-position four-way electromagnetic directional valve of the output of step valve respectively with two control left side expansion brackets is connected, right side cylinder synchronous valve Horizontal three-position four-way electromagnetic directional valve of the output respectively with two control right side expansion brackets is connected, the horizontal 3-position 4-way electromagnetism Reversal valve connection corresponding with horizontal hydraulic cylinder respectively, forms the hydraulic-driven to expansion bracket.
- 3. the control system of trackless deformation gantry crane according to claim 1, it is characterised in that the lifting dolly control Portion processed include two four-way electromagnetic reversing valves, a throttling stop valve, lifting four cylinder synchronous valves, front side cylinder synchronous valve, after Side cylinder synchronous valve, four superposing type Bidirectional balanced valves, two overlapping twos, four lifting 3-position 4-way electromagnetism change To valve, two traversing three-position four-way electromagnetic directional valves；The entrance of two traversing three-position four-way electromagnetic directional valves is connected with hydraulic power unit respectively, it is double with two superposing types respectively to export The entrance of one-way throttle valve is corresponding to be connected, the outlet of overlapping two respectively by superposing type dual hydraulic control one-way valve with Two-way hydraulic cylinder is corresponding to be connected, and forms the hydraulic-driven laterally adjusted to lifting dolly；Throttle check valve inlet is connected with hydraulic power unit, exports and is sequentially connected two four-way electromagnetic reversing valves and four cylinder synchronous valves, The output of four cylinder synchronous valves is respectively as the input of front side cylinder synchronous valve and rear side cylinder synchronous valve, the output point of front side cylinder synchronous valve Lifting three-position four-way electromagnetic directional valve not with two control front sides is connected, and the output of rear side cylinder synchronous valve controls with two respectively The lifting three-position four-way electromagnetic directional valve of rear side is connected, and the lifting three-position four-way electromagnetic directional valve is two-way flat with superposing type respectively The connected rear, connection corresponding with lifting hydraulic cylinder respectively again of the valve that weighs, forms and lifts by crane the hydraulic-driven lifted to lifting dolly.
- 4. the control system of trackless deformation gantry crane according to claim 1, it is characterised in that the wheel group control unit Changed comprising six overlapping twos, four superposing type dual hydraulic control one-way valves, four wheel group angle 3-position 4-way electromagnetism Three-position four-way electromagnetic directional valve is turned to valve, two wheel groups；The entrance of four wheel group angle three-position four-way electromagnetic directional valves is connected with hydraulic power unit, exports and divide respectively by total magnetic valve Connection not corresponding with the entrance of wherein four overlapping twos, the outlet of four overlapping twos divides again Connection not corresponding with wheel angle regulation hydraulic cylinder, forms the hydraulic-driven to wheel group angular adjustment；The entrance that two wheel groups turn to three-position four-way electromagnetic directional valves is connected by total magnetic valve with hydraulic power unit, export respectively with The entrance of two other overlapping two is corresponding to be connected, and the outlet of two overlapping twos leads to respectively again Cross the connection corresponding with wheel steering regulation hydraulic cylinder of four superposing type dual hydraulic control one-way valves；Two in wheel steering regulation hydraulic cylinder Being in parallel of front side, two rear sides being in parallel.
- 5. the control system of trackless deformation gantry crane according to claim 1, it is characterised in that the travelling control portion Include four hydraulic motor travel motors, front-wheel synchronous valve, trailing wheel synchronous valve and walking three-position four-way electromagnetic directional valve；It is same that the entrance for three-position four-way electromagnetic directional valve of walking is connected by total magnetic valve with hydraulic power unit, outlet is connected front-wheel respectively Valve and the entrance of trailing wheel synchronous valve are walked, the outlet of front-wheel synchronous valve and trailing wheel synchronous valve is connected respectively hydraulic motor travel motor.
- 6. the control system of trackless deformation gantry crane according to claim 1, it is characterised in that support frame as described above controls Portion includes support frame three-position four-way electromagnetic directional valve and overlapping two, support frame three-position four-way electromagnetic directional valve Entrance is connected by total magnetic valve with hydraulic power unit, is exported and is connected with the entrance of overlapping two, back and front supporting frame Luffing hydraulic cylinder is in parallel, and the outlet of overlapping two correspondingly connects hydraulic fluid port in parallel.
- 7. the control system of trackless deformation gantry crane according to claim 1, it is characterised in that the cable drum control Portion processed includes cable drum three-position four-way electromagnetic directional valve and overlapping two, and cable drum 3-position 4-way electromagnetism changes It is connected to the entrance of valve by total magnetic valve with hydraulic power unit, exports and be connected with the entrance of overlapping two, is superimposed The traversing hydraulic cylinder of outlet connecting cable roller of formula Double throttle check valve.
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| CN201710807150.7A CN107697810A (en) | 2017-09-08 | 2017-09-08 | A kind of control system of trackless deformation gantry crane |
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| CN201710807150.7A CN107697810A (en) | 2017-09-08 | 2017-09-08 | A kind of control system of trackless deformation gantry crane |
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